Appendix to Vehicle Automation and Security (Matthew Grojean & Nathan Hart) Nathan Hart Professor Zalewski 04/25/2014

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1 Page 1 Appendix to Vehicle Automation and Security (Matthew Grojean & Nathan Hart) Nathan Hart Professor Zalewski 04/25/2014 A1. Overview of Previous Project The goal of the original Vehicle Automation and Security project [1] was to create and implement a functioning vehicle remote control unit using an Atmel microcontroller. The Atmel microcontroller was to simulate the behavior of a car which can receive basic commands over the Internet. The project was mainly a tool to understand networks and communication over the Internet. The design of the project consisted primarily of the Atmel microcontroller which could receive commands and return a status over a serial to Wi-Fi adapter. The second half of the project is a web interface which allows a user to issue commands to the Atmel board and receive the status back from the board. All of the communications in the project are through UDP packets on port UDP port The system architecture is shown in figure 1. Figure 1. System architecture The servers IP address needs to be hard coded into the Serial to Wi-Fi adapter so it knows where to initiate the communications. The server can then pull the IP address of the Atmel board via the status updates it constantly is sending. This supports the original goal of the project so essentially the car can be mobile and connect from anywhere and the server can issue commands to whichever IP address the Atmel board is on.

2 Page 2 There were a few things needing work and improvements in the project. All of the pieces of the previous project were functioning separately but not communicating correctly in the production environment. The Atmel microcontroller and web server are both connected to the FGCU public network which blocks the UDP ports necessary for full functionality. Another main issue was the serial to Wi-Fi adapter used with the Atmel was also very prone to errors and would constantly cause hassles and delays due to freezing and non-responsiveness. The web panel has 3 buttons. The first button issues the command to lock or unlock the car and receive the new lock status back from the board The second button issues the command to start of turn off the car engine and receive the engine status of the car back. The last button is the refresh button which receives the status of everything. The Atmel board itself has physical hardware buttons to lock, unlock, start, and turn off the car as well. The web panel is an ASP.Net web page with C# code running on the back end. The simple user interface of the web panel is shown in Figure 2 and a snippet of code which is sending a command to the Atmel board is shown in Figure 3. Figure 2. User interface

3 Page 3 Figure 3. Sending command from the server The Atmel board is programmed to accept commands from the server/gui and send a constant stream with the status of the board to the server. The board is also programmed to accept commands from the hardware buttons which can be reflected back on the website. The board also displays LEDs to show to the user which command was executed. The Atmel board is programmed in C and can really only communicate through serial which is why the serial to Wi- Fi adapter is such a vital component in the project. The code which allows the Atmel board to receive commands is shown in Figure 4. The getchar command is normally a blocking call in C programming so running it as a different thread was essential to get the Atmel to function as necessary. // Get a character from the USART Receiver buffer char getchar(void) char c; while(rx_counter == 0) /* wait for a character... */ ; c = Rx_Buffer[RX_Rd_Index]; /* get one from the buffer..*/ if(++rx_rd_index > RX_BUFFER_SIZE) /* wrap the pointer */ RX_Rd_Index = 0; if(rx_counter) RX_Counter--; /* keep a count (buffer size) */ return c;

4 Page 4 Figure 4. getchar command A2. New Objectives The new objectives are all aimed at getting the original project to function as originally intended. The most important improvement is to get the communications working between the server which hosts the web panel and the Atmel microcontroller. The other objectives are to fix a few bugs in the code and add a video stream of the Atmel to the website. The bugs are a few random errors that occur in the website. The video stream will allow the user to view the lights on the Atmel when sending a command to verify the correct command was sent. A few other non-essential changes have to be made to the project to make things easier to user. One of those changes is to remove the login page on the website so users can enter directly in to the control panel. Another change is to prevent the page from refreshing every time a button is pressed which will provide a much nicer UI. A3. Implementation The objective that was most critical to work on first is the network connectivity issue. The issue had two possible fixes. The one fix was to continue working with the network team at school to open up all the necessary firewall restrictions and UDP ports. This task seemed to be going nowhere since no matter what they said they tried, the UDP packets would never reach their destination. The next option was to purchase a new Serial to Wi-Fi adapter which could connect to a different network in the lab at school. This network has enterprise level security which the old adapter didn t support. The second option ended up being the better option especially due to the fact that the old adapter kept freezing up and not working for periods of time. The new serial to Wi-Fi adapter was a Sollae EzTCP adapter [2] and supported more WLAN security policies such as WPA-Enterprise. After a few hours of work setting up the new Wi-Fi adapter the server was able to connect the Atmel board to the local network in the lab and thus bypass much of the school network. Configuring the Wi-Fi adapter was done through a program called eztcp Manager which is put out by the company who makes the adapter [2]. The

5 Page 5 first step in configuring this device is to put it into Soft AP mode by setting the switch on the side as shown in Figure 5. Figure 5. Soft AP Switch Once the device is put into Soft AP mode connect to the Wi-Fi network it broadcasts on with the computer that has eztcp Manager on it. Once on the network the eztcp Manager can connect to the device after clicking Read by using the IP address and port as shown in Figure 6. Figure 6. Connecting to eztcp device Once connected there are several settings that needed to be set as follows: 1. The adapter should pull a local IP address from the router so it is necessary to set that as shown in Figure 7.

6 Page 6 Figure 7. Configuring IP 2. The adapters serial port settings and communications settings need to be set as shown in Figure 8.

7 Page 7 Figure 8. Configuring UDP communication and Com Port 3. The next step is to set the settings to connect to a specific network as shown below. In this case the connection is to a local network in the lab at FGCU in order that the communications between the server and eztcp are not blocked. Figure 9. Configuring W-LAN 4. Verify the last of the settings on the options page as shown in Figure 10

8 Page 8 Figure 10. Verification After entering these settings and clicking the Write button in eztcp manager, the device is able to connect to the local network. This fixed all of the communication issues between the server and the Atmel board. The next problem to be fixed was the random errors occurring on the web panel. Occasionally on a page refresh the whole site would crash. The problem was eventually narrowed down to a UDP socket not being correctly disposed of in the code on page refresh. The issue was resolved after adding the necessary C# code to dispose of the resources properly as shown below: using (Socket sock = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp)) Placing all disposable resources in a using clause in C# handles all of the necessary disposing of objects which made this fix fairly simple to implement.

9 Page 9 The last thing to be added to the project was a webcam stream embedded into the web site. This required a webcam be plugged into the server, and streamed to a certain port on the server which could be displayed on the web. The program used to broadcast the webcam feed to the web is called YAWCam and it can send an MJPEG stream to a specific port [3]. After getting the broadcast set up with YAWCam all that is needed is to add the embedded stream to the site. The following HTML does just that: <object id="mediaplayer" width="640" height="540" type="application/xoleobject"> <param name="filename"value=" <param name="autostart" value="true"> <param name="showcontrols" value="false"> <param name="showstatusbar" value="false"> <param name="showdisplay" value="false"> <embed type="application/x-mplayer2" src=" width="640" height="540" /> </object> The steps for setting up the YAWCam streaming are shown as follows: 1. Open YawCam. Click on Settings > Device > Change To. Select the desired webcam to embed into the site. (Figure 11) Figure 11. YAWCam webcam Settings

Page 10 2. Click on Settings > Edit Settings.

10 Page Click on Settings > Edit Settings. Under the Output heading on the Left side click on stream and change the Port to the desired port and Stream type to MJPEG as shown in Figure 12 Figure 12. Stream Settings A4. Testing Testing the project consists of navigating to the Car Control Panel at atmel.fgcu.edu and testing the commands are received by the board and the status is sent back to the site. The video stream makes it extremely easy to confirm the commands were sent properly. If the lights go off on the board and the status changes on the website then you know that everything is working. Since all of the fixes have been implemented all of these aspects of the project have been tested thoroughly without any errors. For example when clicking the Unlock car button, as shown in Figure 13

Conclusion After the described changes were implemented the purpose of the original project is now accomplished.

11 Page 11 Figure 13. Unlocking The status is succesfully updated as shown in Figure 14. Figure 14. Status Update In the case that the user is using the Chrome web browser an extension called VLC [4] needs to be installed to view the video stream. A5. Conclusion After the described changes were implemented the purpose of the original project is now accomplished. The web site can now be a demonstration for a Remote Vehicle Control unit when combined with the Atmel microcontroller. The microcontroller can send a status to the server and receive commands back from it. This completely simulates the behavior a car could have with the same web panel. The project can still be improved on both ends to add more features and commands to be sent from the website. For example some temperature sensors could be added to the microcontroller to simulate the temperature of the car and allow the Air conditioning in the car to be controlled remotely as well. Also adding motors to the Atmel microcontoller would be beneficial to further simulate a real car.

12 Page 12 A6. References [1] Grojean, Matthew, and Nathan Hart. Vehicle Automation and Security. Dr. Zalewski [2] "CSW-H85F - RS232/RS422/RS485 to WiFi Adapter." CSW-H85F. N.p., n.d. Web. 08 Apr < [3] "YAWCam." YawCam. N.p., n.d. Web. 08 Apr < [4] VideoLan. VideoLan. N.p., n.d. Web. 25 Apr < A7. Appendix Server Side Code: using System; using System.Collections.Generic; using System.Linq; using System.Web; using System.Web.UI; using System.Web.UI.WebControls; using System.Net.Sockets; using System.Net; using System.Text; namespace CarControlPanel public partial class _Default : Page public int SendPort = 2222; public int ReceivePort = 2222; protected void Page_Load(object sender, EventArgs e) if (!IsPostBack) getstatus(); public void getstatus() try

13 Page 13 using (Socket sock = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp)) using (UdpClient receivingudpclient = new UdpClient(ReceivePort)) IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0); receivingudpclient.client.receivetimeout = 5000; System.Threading.Thread.Sleep(150); Byte[] receivebytes = receivingudpclient.receive(ref RemoteIpEndPoint); //store ip address for sending commands back to Atmel. Session["ip"] = RemoteIpEndPoint.Address.ToString(); state"; //lblerror.visible = false; lblerror.text = Session["ip"].ToString(); if (receivebytes[0] == '1') lbllockstate.text = "Car is locked"; btnlockstate.text = "Unlock car"; else if (receivebytes[0] == '0') lbllockstate.text = "Car is unlocked"; btnlockstate.text = "Lock car"; else lbllockstate.text = "Error getting lock if (receivebytes[1] == '0') lblenginestate.text = "Engine is off"; btnenginestate.text = "Start car"; else if (receivebytes[1] == '1') lblenginestate.text = "Engine is running"; btnenginestate.text = "Turn off car"; else

14 Page 14 engine state"; sounding"; sounding!!!!"; state"; lblenginestate.text = "Error getting if (receivebytes[2] == '0') lblalarmstate.text = "Car alarm is not else if (receivebytes[2] == '1') lblalarmstate.text = "Car alarm is else lblalarmstate.text = "Error getting alarm lblerror.visible = false; catch (Exception) //timeout period expired. cannot find atmel lblalarmstate.visible = false; lblenginestate.visible = false; lbllockstate.visible = false; btnenginestate.visible = false; btnlockstate.visible = false; btnrefreshall.visible = false; lblerror.visible = true; lblerror.text = "Cannot communicate with Car!!"; public void sendcommand(string msg) using (Socket sock = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp)) try IPAddress serveraddr = IPAddress.Parse((String)Session["ip"]); IPEndPoint endpoint = new IPEndPoint(serverAddr, SendPort);

15 Page 15 byte[] send_buffer = Encoding.ASCII.GetBytes(msg); sock.sendto(send_buffer, endpoint); lblerror.visible = false; catch (Exception) lblerror.visible = true; lblerror.text = "Error Sending command"; protected void btnlockstate_click(object sender, EventArgs e) if (btnlockstate.text == "Lock car") sendcommand("0"); else sendcommand("1"); System.Threading.Thread.Sleep(1000); getstatus(); protected void btnenginestate_click(object sender, EventArgs e) if (btnenginestate.text == "Start car") sendcommand("2"); else sendcommand("3"); System.Threading.Thread.Sleep(1000); getstatus(); protected void btnrefreshall_click(object sender, EventArgs e) getstatus();

16 Page 16 Atmel Code: #include <mega8515.h> #define xtal L /* quartz crystal frequency [Hz] */ #include <delay.h> //int interruptcount = 0; // USART Receiver buffer #define RX_BUFFER_SIZE 24 char Rx_Buffer[RX_BUFFER_SIZE+1]; // character array (buffer) char RX_Wr_Index; //index of next char to be put into the buffer char RX_Rd_Index; //index of next char to be fetched from the buffer char RX_Counter; //a total count of characters in the buffer bit RX_Buffer_Overflow; // This flag is set on USART Receiver // buffer overflow // USART Transmit buffer #define TX_BUFFER_SIZE 24 char TX_Buffer [TX_BUFFER_SIZE+1]; // character array (buffer) char TX_Rd_Index; //index of next char to be put into the buffer char TX_Wr_Index; //index of next char to be fetched from the buffer char TX_Counter; //a total count of characters in the buffer bit fprimedit; // this flag is used to start the transmit //taken from page 176 // interrupts, when the buffer is no longer empty // USART Receiver interrupt service routine interrupt [USART_RXC] void usart_rx_isr(void) char c; c = UDR; Rx_Buffer[RX_Wr_Index] = c; /* put received char in buffer */ if(++rx_wr_index > RX_BUFFER_SIZE) /* wrap the pointer */ RX_Wr_Index = 0; if(++rx_counter > RX_BUFFER_SIZE) /* keep a character count */ /* overflow check.. */ RX_Counter = RX_BUFFER_SIZE; /* if too many chars came */ RX_Buffer_Overflow = 1; /* in before they could be used */ /* that could cause an error!! */ // Get a character from the USART Receiver buffer char getchar(void) char c; while(rx_counter == 0) /* wait for a character... */ ; c = Rx_Buffer[RX_Rd_Index]; /* get one from the buffer..*/ if(++rx_rd_index > RX_BUFFER_SIZE) /* wrap the pointer */ RX_Rd_Index = 0; if(rx_counter)

17 Page 17 RX_Counter--; /* keep a count (buffer size) */ return c; // USART Transmitter interrupt service routine interrupt [USART_TXC] void usart_tx_isr(void) if(tx_counter!= 0) if(fprimedit == 1) // only send a char if one in buffer fprimedit = 0; // transmission, then don t send the //test and wrap the pointer if(++tx_rd_index > TX_BUFFER_SIZE) TX_Rd_Index = 0; TX_Counter--; // keep track of the counter if(tx_counter!= 0) UDR = TX_Buffer[TX_Rd_Index]; // otherwise, send char out port // test and wrap the pointer if(++tx_rd_index > TX_BUFFER_SIZE) TX_Rd_Index = 0; TX_Counter--; //keep track of the counter UCSRA = 0x40; // clear TX interrupt flag // Write a character to the USART Transmitter buffer void putchar(char c) char stuffit = 0; while(tx_counter > (TX_BUFFER_SIZE-1)) ; //WAIT!! Buffer is getting full!! if(tx_counter == 0) // if buffer empty, setup for interrupt stuffit = 1; TX_Buffer[TX_Wr_Index++]=c; // jam the char in the buffer.. if(tx_wr_index > TX_BUFFER_SIZE) // wrap the pointer TX_Wr_Index = 0; // keep track of buffered chars TX_Counter++; if(stuffit == 1) // do we have to "Prime the pump"? fprimedit = 1; UDR = c; // this char starts the TX interrupts.. //timer interrupt

18 Page 18 /* interrupt [TIM0_OVF] void timer0_ovf_isr(void) TCNT0=0; if(interruptcount++ == 500) putchar('p'); */ // Standard Input/Output functions #define _ALTERNATE_GETCHAR_ #define _ALTERNATE_PUTCHAR_ // now, we include the library and it will understand our // replacements #include <stdio.h> void main() unsigned char sw; char receive; char state[3]= '0','0','0'; // Input/Output Ports initialization // Port A initialization // Function: Bit7=In Bit6=In Bit5=In Bit4=In Bit3=In Bit2=In Bit1=In Bit0=In DDRA=(0<<DDA7) (0<<DDA6) (0<<DDA5) (0<<DDA4) (0<<DDA3) (0<<DDA2) (0<<DDA1) (0<<DDA0); // State: Bit7=T Bit6=T Bit5=T Bit4=T Bit3=T Bit2=T Bit1=T Bit0=T PORTA=(0<<PORTA7) (0<<PORTA6) (0<<PORTA5) (0<<PORTA4) (0<<PORTA3) (0<<PORTA2) (0<<PORTA1) (0<<PORTA0); // Port C initialization // Function: Bit7=Out Bit6=Out Bit5=Out Bit4=Out Bit3=Out Bit2=Out Bit1=Out Bit0=Out DDRC=(1<<DDC7) (1<<DDC6) (1<<DDC5) (1<<DDC4) (1<<DDC3) (1<<DDC2) (1<<DDC1) (1<<DDC0); // State: Bit7=1 Bit6=1 Bit5=1 Bit4=1 Bit3=1 Bit2=1 Bit1=1 Bit0=1 PORTC=(1<<PORTC7) (1<<PORTC6) (1<<PORTC5) (1<<PORTC4) (1<<PORTC3) (1<<PORTC2) (1<<PORTC1) (1<<PORTC0); // Port D initialization // Function: Bit7=Out Bit6=Out Bit5=Out Bit4=Out Bit3=Out Bit2=Out Bit1=Out Bit0=In DDRD=(1<<DDD7) (1<<DDD6) (1<<DDD5) (1<<DDD4) (1<<DDD3) (1<<DDD2) (1<<DDD1) (0<<DDD0); // State: Bit7=0 Bit6=0 Bit5=0 Bit4=0 Bit3=0 Bit2=0 Bit1=1 Bit0=1 PORTD=(0<<PORTD7) (0<<PORTD6) (0<<PORTD5) (0<<PORTD4) (0<<PORTD3) (0<<PORTD2) (1<<PORTD1) (1<<PORTD0); UBRRH=0; UBRRL=0x17;//baud rate 9600 //UBRRL=0x01; //baud rate // Initialize the USART control register: // RX & TX enabled,

19 Page 19 // RX & TX interrupts enabled, // 8 data bits UCSRB=0xD8; // Initialize the frame format, 8 data bits, // 1 stop bit, asynchronous operation and // no parity UCSRC=0x86; // Global interrupt enable #asm("sei") while(1) delay_ms(100); putchar(state[0]); putchar(state[1]); putchar(state[2]); if(rx_counter) // are there any received characters?? receive = getchar(); // get the character switch (receive) case '0': state[0] = '1'; //lock state[2] = '0'; //disable alarm if sounding PORTC = ~0x3; PORTC = ~0x5; PORTC = ~0x9; PORTC = ~0x11; PORTC = ~0x21; PORTC = ~0x41; PORTC = ~0x81; break; case '1': state[0] = '0'; //unlock PORTC = ~0x6; PORTC = ~0xA; PORTC = ~0x12; PORTC = ~0x22; PORTC = ~0x42; PORTC = ~0x82;

20 Page 20 PORTC = ~0x3; break; case '2': state[1] = '1'; PORTC = ~0xC; PORTC = ~0x14; PORTC = ~0x24; PORTC = ~0x44; PORTC = ~0x84; PORTC = ~0x5; PORTC = ~0x6; break; case '3': state[1] = '0'; PORTC = ~0x18; PORTC = ~0x28; PORTC = ~0x48; PORTC = ~0x88; PORTC = ~0x9; PORTC = ~0xA; PORTC = ~0xC; break; //start //turn off sw = ~PINA; switch(sw) case 0x01: state[0] = '1'; state[2] = '0'; PORTC = ~0x3; PORTC = ~0x5; PORTC = ~0x9; //lock //disable alarm if sounding

21 Page 21 PORTC = ~0x11; PORTC = ~0x21; PORTC = ~0x41; PORTC = ~0x81; break; case 0x02: state[0] = '0'; PORTC = ~0x6; PORTC = ~0xA; PORTC = ~0x12; PORTC = ~0x22; PORTC = ~0x42; PORTC = ~0x82; PORTC = ~0x3; break; case 0x4: state[1] = '1'; PORTC = ~0xC; PORTC = ~0x14; PORTC = ~0x24; PORTC = ~0x44; PORTC = ~0x84; PORTC = ~0x5; PORTC = ~0x6; break; case 0x8: state[1] = '0'; PORTC = ~0x18; PORTC = ~0x28; PORTC = ~0x48; //unlock //start //turn off

22 Page 22 PORTC = ~0x88; PORTC = ~0x9; PORTC = ~0xA; PORTC = ~0xC; break; case 0x10: state[2] = '1'; PORTC = ~0x30; PORTC = ~0x50; PORTC = ~0x90; PORTC = ~0x11; PORTC = ~0x12; PORTC = ~0x14; PORTC = ~0x18; break; //alarm default: PORTC = ~0x00;

Lampiran. Universitas Sumatera Utara

Lampiran. Universitas Sumatera Utara Lampiran LISTING PROGRAM #include #include // Declare your global variables here char buff[16]; unsigned int frekuensi,x; unsigned int detak; // External Interrupt 0 service routine